

#pragma once

#include <eigen3/Eigen/Dense>
#include <ceres/ceres.h>


class PoseLocalParameterization : public ceres::LocalParameterization {
    virtual bool Plus(const double* x, const double* delta, double* x_plus_delta) const;
    virtual bool ComputeJacobian(const double* x, double* jacobian) const;
    virtual int GlobalSize() const {
        return 7;
    };
    virtual int LocalSize() const {
        return 6;
    };
};
